Nothing will ever duplicate "classic camping", but for us lesser mortals, other easier styles of "comfort camping" offer a chance to enjoy budget-friendly getaways in the Great Outdoors.
Family Camping in Comfort
Camping in Comfort - Try Family Camping in a Yurt or Bungalow
Tips, packing lists, and advice on any and all aspects, from veteran family campers. (Also: a great quote from Garfield.)
Family Camping Resorts
Family Camping doesn't have to mean "roughing it in the bushes" anymore: some "resorts" offer everything from cabins to fishing ponds to swimming pools to kids' programs.
Camp in Style in a Recreational Vehicle
General information about RV travel-- including some costs figures-- at the excellent G.O.R.P. website (Great Outdoors Recreation Pages.)